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arxiv: 2605.23564 · v2 · pith:F7UF5L6Inew · submitted 2026-05-22 · 📡 eess.SP

FMCW-Based Integrated Sensing and Communication System: Design, Implementation, and Experimental Measurements

Murat Temiz , Colin Horne , Matthew A. Ritchie , Christos Masouros This is my paper

Pith reviewed 2026-06-30 15:07 UTC · model grok-4.3

classification 📡 eess.SP
keywords FMCWISACindex modulationphase modulationvehicular radarintegrated sensing and communicationDoppler mitigation
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The pith

FMCW chirps modulated with phase and index layers transmit data at 25-50 Mbps while radar sensing remains the primary function.

A machine-rendered reading of the paper's core claim, the machinery that carries it, and where it could break.

This paper develops a radar-centric ISAC system that embeds communication into FMCW chirps through simultaneous phase modulation and index modulation. A dedicated radar signal processing step is introduced to counteract the distortions these layers introduce to range and velocity estimates. Simulations at 2.4 GHz and 24 GHz under Doppler conditions reach 25 Mbps and 50 Mbps respectively while keeping sensing accuracy intact. Hardware loopback measurements confirm that the demodulation architecture recovers the data symbols. The work also maps the resulting trade-offs among throughput, sensing precision, and spectral emissions, showing that waveform parameters can be tuned on the fly.

Core claim

Joint phase and index modulation applied to FMCW chirps, together with a mitigation technique in the radar receiver chain, enables communication throughputs of 25 Mbps in the 2.4 GHz band and 50 Mbps in the 24 GHz band under Doppler while preserving the radar's primary sensing capability, as demonstrated in simulation and loopback hardware tests.

What carries the argument

Two-layer modulation (phase modulation plus index modulation) on FMCW chirps combined with a radar signal processing mitigation step that removes modulation-induced distortions from sensing measurements.

Load-bearing premise

The mitigation processing fully removes the effects of index and phase modulation on sensing measurements under all relevant operational conditions.

What would settle it

An over-the-air vehicular test that records measurable degradation in range or velocity accuracy when the modulation layers are active would show that the mitigation step does not fully preserve sensing performance.

Figures

Figures reproduced from arXiv: 2605.23564 by Christos Masouros, Colin Horne, Matthew A. Ritchie, Murat Temiz.

Figure 1
Figure 1. Figure 1: Radar-centric ISAC example: FMCW radar sig [PITH_FULL_IMAGE:figures/full_fig_p001_1.png] view at source ↗
Figure 2
Figure 2. Figure 2: IM-PM-FMCW ISAC frame structure. The communication receiver can efficiently demodu￾late the IM and PM data, while the proposed radar receiver utilizes a novel correction method to mitigate the range and velocity artifacts caused by IM and PM within FMCW chirps. These architectures are fully compatible with current RF and digital front-ends. • It also extensively evaluates sensing performance, out￾of-band e… view at source ↗
Figure 3
Figure 3. Figure 3: Joint ISAC transmitter and radar receiver architecture for IM-PM-FMCW waveform. [PITH_FULL_IMAGE:figures/full_fig_p005_3.png] view at source ↗
Figure 4
Figure 4. Figure 4: The proposed dual-polarized communication receiver architecture to receive and demodulate the signals [PITH_FULL_IMAGE:figures/full_fig_p005_4.png] view at source ↗
Figure 5
Figure 5. Figure 5: Signal processing for the demodulation of IM. [PITH_FULL_IMAGE:figures/full_fig_p007_5.png] view at source ↗
Figure 6
Figure 6. Figure 6: Experimental measurements and real-time signal processing, where UCL’s ARESTOR is used as ISAC [PITH_FULL_IMAGE:figures/full_fig_p009_6.png] view at source ↗
Figure 7
Figure 7. Figure 7: Communication signal processing and demodulation for each polarization in the receiver. [PITH_FULL_IMAGE:figures/full_fig_p009_7.png] view at source ↗
Figure 10
Figure 10. Figure 10: Throughput achieved via IM and PM using B1 = {40, 55} MHz at Fc = 2.4 GHz and B2 = {150, 250} MHz at Fc = 24 GHz bands, Tc = 10µs, M = 4. SNR [dB] 0 10 20 30 40 Throughput [Mbits/s] 0 10 20 30 40 50 60 B1 T c =5µs L=10 B1 T c =10µs L=20 B1 T c =20µs L=40 B1 T c =50µs L=100 B2 T c =5µs L=20 B2 T c =10µs L=40 B2 T c =20µs L=80 B2 T c =50µs L=200 [PITH_FULL_IMAGE:figures/full_fig_p011_10.png] view at source ↗
Figure 11
Figure 11. Figure 11: Throughput achieved using B1 = {40, 55} MHz at Fc = 2.4 GHz and B2 = {150, 250} MHz at Fc = 24 GHz bands, M = 64. hardware implementation is conducted exclusively in the 2.4 GHz band due to ARESTOR limitations and in accor￾dance with UK ISM regulations [43]. Furthermore, I = 50 FMCW chirps are transmitted in each communication frame. Note that the proposed method does not vary the carrier frequency; inste… view at source ↗
Figure 12
Figure 12. Figure 12: Normalized power spectrum density of IM-PM [PITH_FULL_IMAGE:figures/full_fig_p012_12.png] view at source ↗
Figure 15
Figure 15. Figure 15: The trade-off between the ISL and data rate in [PITH_FULL_IMAGE:figures/full_fig_p012_15.png] view at source ↗
Figure 16
Figure 16. Figure 16: Range-velocity images of targets obtained using [PITH_FULL_IMAGE:figures/full_fig_p013_16.png] view at source ↗
Figure 18
Figure 18. Figure 18: depicts the throughput of the IM-PM-FMCW ISAC with [Tc = 10µs and L = 10] and [Tc = 100µs and L = 100], obtained from measurements. The highest throughput is achieved when Tc = 10µs, where the IM can also significantly contribute to the final throughput since the chirp duration is short, resulting in a higher chirp repetition frequency. The throughput achieved only with PM is the same in all of these case… view at source ↗
Figure 19
Figure 19. Figure 19: Range profile of a single target with IM-PM [PITH_FULL_IMAGE:figures/full_fig_p014_19.png] view at source ↗
Figure 20
Figure 20. Figure 20: Range profile of a single target with IM-PM [PITH_FULL_IMAGE:figures/full_fig_p015_20.png] view at source ↗
read the original abstract

This study proposes a radar-centric integrated sensing and communication (ISAC) system utilizing a two-layer modulation scheme for vehicular networks. Frequency-modulated continuous wave (FMCW) chirps are jointly modulated via phase modulation (PM) and index modulation (IM) to transmit data while maintaining sensing as the primary function. To support this, a novel radar signal processing technique is developed to mitigate the impacts of IM and PM on sensing accuracy, alongside a communication receiver architecture designed to successfully demodulate IM and PM data within FMCW chirps. System performance is evaluated through simulations in the 2.4 GHz and 24 GHz bands under Doppler effects, achieving communication throughputs of 25 Mbps and 50 Mbps, respectively. Furthermore, a proof-of-concept hardware implementation is realized, and experimental measurements via a loopback cable are performed to verify the feasibility of the architecture. Finally, it evaluates the fundamental trade-off between communication throughput, sensing accuracy, and out-of-band emission, demonstrating the system's flexibility to dynamically adjust waveform parameters to meet varying operational requirements.

Editorial analysis

A structured set of objections, weighed in public.

Desk editor's note, referee report, simulated authors' rebuttal, and a circularity audit. Tearing a paper down is the easy half of reading it; the pith above is the substance, this is the friction.

Referee Report

3 major / 2 minor

Summary. The paper proposes a radar-centric ISAC system for vehicular networks that applies two-layer modulation (phase modulation and index modulation) to FMCW chirps to enable data transmission while keeping sensing as the primary function. A novel radar signal processing technique is developed to mitigate modulation-induced degradation in sensing accuracy, paired with a communication receiver for demodulating the IM/PM data. Simulations at 2.4 GHz and 24 GHz under Doppler effects report throughputs of 25 Mbps and 50 Mbps; a hardware proof-of-concept is implemented and validated via loopback-cable measurements. The work also examines trade-offs among throughput, sensing accuracy, and out-of-band emissions, showing parameter flexibility.

Significance. If the mitigation technique is shown to restore sensing metrics under realistic propagation, the approach would offer a practical, parameter-tunable framework for radar-primary ISAC waveforms that achieve Mbps-scale communication without dedicated spectrum, directly relevant to vehicular networks.

major comments (3)
  1. [Experimental Measurements] Experimental Measurements section: hardware validation is performed exclusively via loopback cable, which omits wireless propagation, target-motion Doppler spread, multipath, and interference present in the claimed 2.4/24 GHz vehicular scenarios; this leaves untested whether the novel radar processing fully restores range/Doppler accuracy to simulated levels when IM/PM are active.
  2. [Simulation results] Simulation results (abstract and performance evaluation): reported throughputs of 25 Mbps and 50 Mbps lack accompanying quantitative sensing-error metrics (e.g., RMSE in range/Doppler) with versus without the mitigation technique, and no error bars or statistical significance are provided, weakening the claim that sensing remains primary.
  3. [Radar signal processing technique] Description of the novel radar signal processing technique: the manuscript states that a mitigation method is developed but supplies neither the explicit equations nor the algorithmic steps showing how IM/PM effects are removed from the range-Doppler map, making independent verification of the central mitigation claim impossible from the given material.
minor comments (2)
  1. [Abstract] Abstract: the phrase 'maintaining sensing as the primary function' is repeated without a quantitative definition (e.g., maximum allowable degradation in RMSE); a single clarifying sentence would improve precision.
  2. [System model] Notation: the two-layer modulation scheme is described at a high level; a compact table listing the exact mapping of data bits to chirp index and phase values would aid reproducibility.

Simulated Author's Rebuttal

3 responses · 0 unresolved

We thank the referee for the constructive comments, which help improve the clarity and completeness of the manuscript. We address each major comment point by point below.

read point-by-point responses

  1. Referee: [Experimental Measurements] Experimental Measurements section: hardware validation is performed exclusively via loopback cable, which omits wireless propagation, target-motion Doppler spread, multipath, and interference present in the claimed 2.4/24 GHz vehicular scenarios; this leaves untested whether the novel radar processing fully restores range/Doppler accuracy to simulated levels when IM/PM are active.

    Authors: The loopback-cable experiment is presented as a hardware proof-of-concept to confirm that the two-layer modulation can be generated and that the basic transmit/receive chain functions as designed. The simulations separately incorporate Doppler spread to evaluate performance under vehicular conditions. We agree that the loopback setup does not capture wireless propagation effects and will revise the Experimental Measurements section to explicitly state this limitation and clarify the scope of the hardware validation. revision: partial

  2. Referee: [Simulation results] Simulation results (abstract and performance evaluation): reported throughputs of 25 Mbps and 50 Mbps lack accompanying quantitative sensing-error metrics (e.g., RMSE in range/Doppler) with versus without the mitigation technique, and no error bars or statistical significance are provided, weakening the claim that sensing remains primary.

    Authors: The current manuscript emphasizes communication throughput but does not present the requested side-by-side sensing-error metrics. We will add range and Doppler RMSE values (with and without mitigation) together with any available variability measures from the Monte-Carlo runs in the revised Performance Evaluation section to strengthen the claim that sensing accuracy is preserved. revision: yes

  3. Referee: [Radar signal processing technique] Description of the novel radar signal processing technique: the manuscript states that a mitigation method is developed but supplies neither the explicit equations nor the algorithmic steps showing how IM/PM effects are removed from the range-Doppler map, making independent verification of the central mitigation claim impossible from the given material.

    Authors: We acknowledge that the description of the mitigation technique is currently at a high level. In the revision we will insert the explicit mathematical formulation and the step-by-step algorithmic procedure used to suppress the IM/PM-induced artifacts in the range-Doppler map, enabling independent verification. revision: yes

Circularity Check

0 steps flagged

No circularity in derivation chain

full rationale

The paper is a design-and-experiment study that proposes a two-layer IM/PM modulation on FMCW chirps, introduces a mitigation processing technique, and reports throughputs from simulations (under Doppler) plus loopback-cable hardware measurements. No equations, fitted parameters, or predictions are presented that reduce by construction to the inputs; performance numbers are obtained directly from the described simulations and measurements rather than from any self-referential derivation or self-citation chain. The central claims therefore remain independent of the patterns that would produce circularity scores above 2.

Axiom & Free-Parameter Ledger

0 free parameters · 1 axioms · 0 invented entities

The central claims rest on the effectiveness of the mitigation processing and the representativeness of the loopback test; these are domain assumptions rather than derived quantities. No free parameters or invented entities are explicitly introduced in the abstract.

axioms (1)
  • domain assumption The developed radar signal processing technique successfully removes the effects of IM and PM on sensing accuracy
    Invoked when stating that sensing remains the primary function after modulation is added.

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